testing_planes.h

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/******************************************************************************
 * \file
 *
 * $Id:$
 *
 * Copyright (C) Brno University of Technology
 *
 * This file is part of software developed by dcgm-robotics@FIT group.
 *
 * Author: Vit Stancl (stancl@fit.vutbr.cz)
 * Supervised by: Michal Spanel (spanel@fit.vutbr.cz)
 * Date: dd/mm/2012
 *
 * This file is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This file is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public License
 * along with this file.  If not, see <http://www.gnu.org/licenses/>.
 */
#pragma once
#ifndef TestingPlanes_H_included
#define TestingPlanes_H_included

#include "testing_object_base.h"

#include <vector>
#include <Eigen/Dense>


namespace srs_env_model
{

class CTestingPlane : public CTestingObjectBase
{
public:
        typedef Eigen::Vector3f tPoint;

public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW

public:
        CTestingPlane();

        CTestingPlane( const CTestingPlane &plane );

        CTestingPlane operator =( const CTestingPlane &plane );

        CTestingPlane( const tPoint &p1, const tPoint &p2, const tPoint &p3 );

        CTestingPlane( const tPoint &point, const tPoint &normal );

        void set( const tPoint &p1, const tPoint &p2, const tPoint &p3 );

        void set( const tPoint &point, const tPoint &normal );

        virtual bool isIn( double x, double y, double z );

protected:
        tPoint m_plane;

        double m_d;

}; // class CTestingPlane

class CTestingPlanes : public CTestingObjectBase
{
public:
        typedef std::vector< CTestingPlane > tPlanesStack;

public:
        CTestingPlanes();

        CTestingPlanes( const tPlanesStack & planes );

        void set( const tPlanesStack &planes );

        void addPlane( const CTestingPlane &plane ) { m_planes.push_back( plane ); }

        void clearPlanes(){ m_planes.clear(); }

        virtual bool isIn( double x, double y, double z );

protected:
        tPlanesStack m_planes;

}; // class CTestingPlanes

}



 // namespace srs_env_model

// TestingPlanes_H_included
#endif